CN202182717U - Laser ranging device based on time-to-digital converter (TDC) technology - Google Patents
Laser ranging device based on time-to-digital converter (TDC) technology Download PDFInfo
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- CN202182717U CN202182717U CN2011203220503U CN201120322050U CN202182717U CN 202182717 U CN202182717 U CN 202182717U CN 2011203220503 U CN2011203220503 U CN 2011203220503U CN 201120322050 U CN201120322050 U CN 201120322050U CN 202182717 U CN202182717 U CN 202182717U
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Abstract
The utility model discloses a laser ranging device based on a time-to-digital converter (TDC) technology, which comprises a single-chip microcomputer field programmable gate array (FPGA), a time-to-digital converter TDC-GP2, a laser launching device, a photoelectric detector and an optical element, wherein the single-chip microcomputer FPGA is connected to the time-to-digital converter TDC-GP2, the time-to-digital converter TDC-GP2 is connected with the photoelectric detector, and the photoelectric detector and the laser launching device are connected to the optical element. The laser ranging device based on the TDC technology can serve as a multidisciplinary comprehensive monitoring and measuring scheme, and has good application prospects in range measurement and location, two-dimensional contour measurement, speed measurement, area monitoring, three-dimensional space location and the like.
Description
Technical field
The utility model belongs to laser ranging field, relates in particular to a kind of laser ranging system based on the TDC technology.
Background technology
In the flourishing society of current this science and technology, the application of laser ranging is more and more general.In a lot of fields, electric power, water conservancy, communication, environment, building, geology, police service, fire-fighting, explosion, navigation, railway, anti-terrorism/military affairs, agricultural, forestry, real estate, leisure/outdoor exercises etc. can be used laser range finder.Laser range finder generally adopts dual mode to come measuring distance: impulse method and phase method pulse type laser stadimeter are from being transmitted into time computed range between returning through Laser Measurement.Therefore time measurement is a very important link for the pulse type laser stadimeter.Because the speed of laser is fast especially, so the time interval between the laser pulse that transmits and receives is very little.For example to measure 1 kilometer distance, resolution requirement 1cm, then the resolution of time interval measurement then requires up to 67ps.The time-to-digit converter TDC-GP2 single measurement resolution of Germany acam company is typical 65ps, and power consumption is ultralow, and integrated level is high, measures the dirigibility height, is the pulse type laser stadimeter time difference (TOF) to measure very desirable selection.
Laser range finder is to utilize laser the distance of target accurately to be measured the instrument of (claiming laser ranging again).Laser range finder penetrates beam of laser to target when work, by photovalve receiving target laser light reflected bundle, timer is measured laser beam from being transmitted into the time of reception, calculates the range-to-go from the observer.Owing to laser has advantages such as high directivity, high monochromaticity and high power, these all are very crucial for the signal to noise ratio (S/N ratio) of surveying at a distance, judge target azimuth, raising receiving system, assurance measuring accuracy etc., so laser range finder comes into one's own day by day.The laser radar that on the laser range finder basis, grows up can not only be found range, but also can survey target azimuth, fortune running speed degree and acceleration etc.Advantages such as laser range finder has degree of accuracy and resolution is high, antijamming capability is strong, and volume is little, in light weight, its application is wide, industry requirement is numerous, and its market demand capacity is big.
Laser ranging technique mainly contains three developing direction: the one, as range measurement system and scanning mechanism are combined, constitute laser three-D pattern mapping system or laser radar at the ratio of application; The 2nd, study and how to improve the distance accuracy of LDMS under the situation that guarantees ranging; Three be to use in to the laser range finder of eye-safe.
Laser range finder is the integrated application of multidisciplinary technology such as laser, precision optical machinery, embedded technology and optoelectronics.Along with the development of laser technology, embedded technology and integrated optics, laser range finder just develops towards the direction of digitizing, robotization, low cost, small portableization, and its range of application is also more and more wider.Usually, the pulsed laser ranging system gordian technique is mainly emission and the reception technique and the high precision time interval measurement technology of high power pulse.
1, light pulse transmits and receives technology
The ultimate principle of pulsed laser ranging is the mistiming that receives between laser pulse and the transponder pulse through measuring, and calculates the distance of propagating at this time inner laser.In order to produce emission exactly and to receive the laser pulse benchmark, require the Laser emission pulse narrow as much as possible, because the restriction of laser instrument and modulation device capacitance-resistance parameter, the narrow pulse width of Laser emission can reach 10-20ns at present.The receiving system of semiconductor laser range is an a kind of typical direct detection system, and the photodetector in the system directly converts the light signal that receives into electric signal, and its demodulator circuit can detect the entrained information of light signal then.Avalanche diode is used in the selection of detector generally speaking in this system.Usually; Target surface to be measured is diffuse reflection, and its power of light signal that turns back on the photo-detector is very little, especially in the remote measurement; The signal of reflected back has only by abundant amplification with through could being calculated and result's demonstration by record after the processing such as integer, denoising.Therefore, the amplification of signal is its important component part with extracting circuit in the Photodetection system, and its fundamental purpose is farthest to suppress noise, and amplifying signal, improves signal to noise ratio (S/N ratio) as much as possible, so that obtain useful information entrained in the return signal.The all functions of whole receiving system are the low level narrow pulse signals that detector is received, and through amplification, limiting bandwidth, separate information, deliver to the signal processing unit of next stage again.Laser emission becomes Gaussian with received pulse, and waveform forms reference signal through comparer, along with the variation of electric pulse; Subtle change can take place in position, reference signal forward position; Especially far away more when measuring distance, when the reception signal amplitude changed greatly, the range error that causes was just big more.
2, high precision time interval measurement technology
In the flight time distance-finding method with the research of a lot of transient processes in the chronometer time measuring technique all be core technology the most wherein.All carried out the research of this respect in view of this technological importance a lot of companies both domestic and external, research institute and university.The chronometer time measurement mechanism of some different accuracies, different volumes quality, different costs at present has been shaped.Sum up and get up to mainly contain three kinds of Method Of Time Measurements:
(1) simulation, its advantage are that measuring accuracy is high, can reach magnitude, but because discharging and recharging of electric capacity is not absolute, promptly have nonlinear effect, thus its measuring error be about ten thousand of its measurement range/, this method receives Influence of Temperature also bigger.
(2) digital method, digital method are with synchronous clock pulse the time interval to be carried out timing.Digital method has favorable linearity, and does not receive the influence of measurement range.The precision of its measurement is main relevant with clock frequency, and its measuring accuracy is a positive and negative clock period.The general clock that uses the hundreds of megahertz, its precision is a magnitude.Even clock frequency up to, its measuring accuracy also has only, the distance corresponding with it is a decimeter magnitude, in view of this distance accuracy is obviously not high.But also can repeatedly measure the equal method of making even to improve measuring accuracy through adopting.
(3) digital insertion; The numeral insertion is to adopt digital method to combine various insertion method to realize accurately measuring; Can improve the precision and the linearity of single-pulse measurement simultaneously, range of application and field are more wide, can adapt to high speed, wide-measuring range and high-precision measurement.
The utility model content
The utility model provides a kind of laser ranging system based on the TDC technology in order to overcome the above problems.This device can be used as a kind of monitoring, measurement scheme of multidisciplinary synthesis, in range observation, location, and profile measurement, velocity survey, the area monitoring of two dimension, three-dimensional fixs etc. all have good application prospects.
In order to achieve the above object, the utility model adopts following technical scheme:
A kind of laser ranging system based on the TDC technology; Said laser ranging system comprises single-chip microcomputer FPGA, time-to-digit converter TDC-GP2, laser beam emitting device, photodetector and optical element; Said single-chip microcomputer FPGA is connected in time-to-digit converter TDC-GP2; Said time-to-digit converter TDC-GP2 and photodetector join, and said photodetector and laser beam emitting device are connected in optical element.
In the preferred version of the utility model, join through the SPI serial ports between said single-chip microcomputer FPGA and the time-to-digit converter TDC-GP2.
Further, the trigger pulse width of said time-to-digit converter TDC-GP2 is greater than 2.5ns.
Further, said photodetector is the receiving circuit based on the CFD technology.
Further again, said laser ranging system also comprises an on-site real-time display screen.
Further again, said laser ranging system is provided with the metal shell of shield electromagnetic interference.
The utility model that obtains according to such scheme compared with prior art has the following advantages:
(1) the utility model adopts the TDC technology, and TDC (Time-to-Digital Converter) is a kind of metering system that carries out high precision time interval measurement with signal through the propagation delay of interior door circuit;
(2) adopt a kind of data processing method based on mean square deviation, make the time measurement precision reach picosecond magnitude, distance accuracy reaches a centimetre magnitude, in addition to the anti-interference Shielding Design of also having carried out of the electromagnetism of system;
(3) design of transmission circuit, this device are adopted based on the design of CFD technology receiving circuit, make the frequency of range finding reach a KHz;
(4) adopt the control of the FPGA line data of going forward side by side to handle, solve the problem that the high precision time slot is measured, realize the control and the algorithm flow control thereof of chip-scale;
(5) adopt high speed serial ports and USB joint transmission mode, to different application requirements, this device provides two kinds of different data transmission interfaces;
(6) this device is a kind of portable equipment, is equipped with local display screen functions.
Description of drawings
Further specify the utility model below in conjunction with accompanying drawing and embodiment.
Fig. 1 is the schematic diagram of the utility model;
The FB(flow block) that Fig. 2 implements for the utility model;
Fig. 3 is the measuring principle figure of the utility model;
Fig. 4 is the measurement data before being untreated;
Fig. 5 is the measurement data after handling.
Embodiment
For technological means, creation characteristic that the utility model is realized, reach purpose and be easy to understand understanding with effect, below in conjunction with concrete diagram, further set forth the utility model.
Referring to Fig. 1, the laser ranging system 100 based on the TDC technology that the utility model provides comprises single-chip microcomputer FPGA101, time-to-digit converter TDC-GP2102, laser beam emitting device 103, photodetector 104 and optical element 105.
Wherein, single-chip microcomputer FPGA101 is connected in time-to-digit converter TDC-GP2102, and time-to-digit converter TDC-GP2102 and photodetector 104 join, and photodetector 104 is connected in optical element 105 with laser beam emitting device 103.
In the utility model, laser beam emitting device 103 is the radiating circuit of mainly being made up of laser driver and pulse type laser diode.
It is the receiving circuit based on the CFD technology for photodetector 104.
On the basis of such scheme, the utility model is provided with an on-site real-time display screen in laser ranging system, is used to realize local demonstration.
In order further to improve the measuring accuracy of the utility model, the utility model laser ranging system is provided with the metal shell of shield electromagnetic interference.
According to the utility model that such scheme obtains, its course of work is following:
Referring to Fig. 1, laser beam emitting device is launched the start port that light pulse is input to transponder pulse TDC-GP2 simultaneously, triggers time difference measurement.Produce a Stop signal in case the reflected impulse of passing back from object 200 has reached photodetector (receiving circuit) to TDC, this time, time difference measurement was accomplished.Accurately noted by TDC-GP2 from Start to the time difference the Stop pulse so, be used to calculate the distance of the object of surveying and transmitting terminal.
In this principle, FPGA carries out register configuration and time measurement control for TDCGP2, and the time measurement result passes back to FPGA and carries out the accurate Calculation of distance through algorithm, if simultaneously display device is arranged, distance display is come out.
, the measurement of middle distance also relation is arranged in this principle outside the Pass having except the time difference measurement precision with TDC-GP2 with a lot of other factors:
1, laser peak power;
2, laser-beam divergence degree;
3, optical element part;
4, the medium of light transmission (air, rainy day, greasy weather etc.);
5, the luminous reflectanc of object;
6, sensitivity level of light receiving part or the like.
The characteristic of testee characteristic and transmission medium is generally provided by condition of application, can select the transmitter (wavelength, drive condition, the characteristic of light beam etc.) and the receiver (type, sensitivity, bandwidth etc.) of laser so according to condition of application.Also can correspondingly increase under the situation that range for measuring is higher at laser peak power and signal to noise ratio (S/N ratio) is higher.The precision of time difference measurement is except with also relevant with the pulse characteristic of laser the measuring accuracy of TDC-GP2 chip own has relation, such as the shape (width, the time on rise and fall edge) of pulse, and detector bandwidth and signal processing circuit so.For tdc-gp2, the speed of pulse signal is fast more, and bandwidth is wide more, and then the mutually deserved meeting of measuring accuracy is high more.
The surveying work of TDC-GP2 chip is all accomplished by TDC high speed measuring unit.The start passage of GP2, stop1, the stop2 passage is all available.Each stop passage has the measurement capability of 4 pulses.Under this measurement range, measurement result can be selected 16 of calibration result (32) or non-calibration results.Recommend to use 32 calibration result, just each the measurement all carried out primary calibration to the TDC measuring unit.The problem that need arouse attention:
1, must be for its pulse width of TDC-GP2 triggering greater than 2.5ns.
2, the time interval between the porch of the triggering edge of start passage and first stop passage is greater than 3.5ns.
3, recommend automatic calibration result, and select each laggard row of completion of measuring to calibrate automatically.This function is 0 to open through the automatic calibration bits that register 0 is set.
If 4 calculate the pulse time difference of stop1 and stop2 passage, the time difference range of pulse can be reduced to 0.Start can not surpass 1.8us to the distance of a last stop pulse, and this is because hardware itself limits.Measurement flow process and typical register are provided with as shown in Figure 2 under this measurement pattern:
FPGA accomplishes through the spi serial ports with communicating by letter of tdc-gp2, and a typical measuring process for measurement range 1 is so:
FPGA can handle data after gp2 has read data so, calculates pulse distance back and forth.If gp2 is after being initialised in the superincumbent measuring process, do not receive any start signal, measurement will can not take place.Can not produce interruption yet.After having only the start signal to be accepted; Measure and just be triggered; So no matter to measure and normally or at the appointed time do not receive the stop pulse, all can have look-at-me to produce, judge through the content of judging status register whether measurement is normal at the INTN of gp2 pin.
Annotate: accepting start, before the stop pulse, must be with the pin en_start of gp2, en_stop puts Gao Ping, otherwise start, the stop passage then can be by gating, and measurement could not be triggered yet!
Use the average method that improves precision: top said situation is that the start passage of tdc-gp2 is given in laser start pulse, the situation of pulse to the stop passage of tdcgp2 of returning of laser.In this case, the single measurement precision of gp2 is 65ps.When the output frequency of measuring not is under the very important situation,, can eliminate systematic error through repeatedly measuring average method in order to improve measuring accuracy this time so such as exporting the result p.s. 1 to 2 time.In order to make gp2 come to reduce greatly error through average method, the so following measurement design of recommending is very effective, can the peak value of systematic error be reduced to 10ps once.
As shown in Figure 3; What the utility model used under this situation is measurement range 1; The pulse signal that transmits and receives of laser is given to stop1 and stop2, and at the start of tdc-gp2 passage, the start signal is a start signal of not participating in measuring that is provided by FPGA.Measuring process is following:
At first sending a measuring dummy start. that still will trigger that does not participate in measuring by FPGA needs this signal to be because this signal of start passage is to tell that gp2 begins to have got into the measurement state now.So behind 50ns at least, FPGA triggers laser instrument and produces to transmit and simultaneously this signal is input to the stop1 passage.The laser pulse signal that receives so then is input to the stop2 passage.That is to say the mistiming of coming Laser Measurement to transmit and receive, and the start signal is given out and is triggered gp2 by FPGA with stop1 and stop2.
So why such reason be the inside at tdc-gp2, and an element of noise is arranged, and can trigger this element of noise through register setting.Element of noise will add any partition noise on the start of gp2 channel pulse, the purpose of doing so like this is in average, greatly remove quantization sum of errors systematic error.This EN_STARTNOISE that is set in the register 5 of is provided with so.
Do not having under the average situation, it is as shown in Figure 4 to measure resulting result, and it is as shown in Figure 5 that measurement result is carried out 500 measurement results after average.The optimization characteristics of system are:
1.stop1 and the time interval measurement of stop2 can be minimum to 0.
2.,, the precision of gp2 is increased to less than 6ps. with different according to average number of times if measurement result of average gp2 can be eliminated systematic error greatly after measuring through this
3. be that time of the start signal (stop1 signal just) of the start signal given by FPGA of it should be noted that so of quite stable and laser will be more than 50ns for temperature inversion, this time is in order to give the start signal plus noise.Need in the measuring process under this situation the configuration of top register 1 is made an amendment slightly: SPIwrite (0x81194900); //stop1 and stop2 passage are accepted a pulse respectively, and the definition computing method deduct first pulse of stop1 with first pulse of stop2.Using gp2 assessment measuring system test case, measure the 1us time interval after average 1000 times, noise curve is following: under average 1000 times situation, the peak-to-peak value noise of output is reduced in the 10ps, is equivalent to differentiate the distance of 1mm.Improve measuring accuracy through this average mode so, the laser ranging application not high for survey frequency is very helpful.
More than show and described the advantage of ultimate principle, principal character and the utility model of the utility model.The technician of the industry should understand; The utility model is not restricted to the described embodiments; The principle of describing in the foregoing description and the instructions that the utility model just is described; Under the prerequisite that does not break away from the utility model spirit and scope, the utility model also has various changes and modifications, and these variations and improvement all fall in the utility model scope that requires protection.The utility model requires protection domain to be defined by appending claims and equivalent thereof.
Claims (6)
1. laser ranging system based on TDC technology; It is characterized in that; Said laser ranging system comprises single-chip microcomputer FPGA, time-to-digit converter TDC-GP2, laser beam emitting device, photodetector and optical element; Said single-chip microcomputer FPGA is connected in time-to-digit converter TDC-GP2, and said time-to-digit converter TDC-GP2 and photodetector join, and said photodetector and laser beam emitting device are connected in optical element.
2. a kind of laser ranging system based on the TDC technology according to claim 1 is characterized in that, joins through the SPI serial ports between said single-chip microcomputer FPGA and the time-to-digit converter TDC-GP2.
3. a kind of laser ranging system based on the TDC technology according to claim 1 is characterized in that the trigger pulse width of said time-to-digit converter TDC-GP2 is greater than 2.5ns.
4. a kind of laser ranging system based on the TDC technology according to claim 1 is characterized in that said photodetector is the receiving circuit based on the CFD technology.
5. a kind of laser ranging system based on the TDC technology according to claim 1 is characterized in that said laser ranging system also comprises an on-site real-time display screen.
6. a kind of laser ranging system based on the TDC technology according to claim 1 is characterized in that said laser ranging system is provided with the metal shell of shield electromagnetic interference.
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| CN2011203220503U CN202182717U (en) | 2011-08-30 | 2011-08-30 | Laser ranging device based on time-to-digital converter (TDC) technology |
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| CN103412474A (en) * | 2013-05-24 | 2013-11-27 | 西安交通大学 | TDC-GP2 time study range high-precision expansion circuit based on FPGA |
| CN104596511A (en) * | 2015-01-16 | 2015-05-06 | 浙江汉脑数码科技有限公司 | Positioning information source terminal device capable of being worn by firefighter |
| CN105467396A (en) * | 2014-09-10 | 2016-04-06 | 河南平原光电有限公司 | Pulse laser range finding control system and range finding operation method thereof |
| US9606228B1 (en) | 2014-02-20 | 2017-03-28 | Banner Engineering Corporation | High-precision digital time-of-flight measurement with coarse delay elements |
| CN106772405A (en) * | 2015-11-25 | 2017-05-31 | 南京理工大学 | A kind of TDC laser distance measurement methods based on FPGA |
| CN107272012A (en) * | 2017-07-13 | 2017-10-20 | 重庆航天机电设计院 | A kind of laser ranging circuit |
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| CN105467396A (en) * | 2014-09-10 | 2016-04-06 | 河南平原光电有限公司 | Pulse laser range finding control system and range finding operation method thereof |
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| CN106772405B (en) * | 2015-11-25 | 2019-08-30 | 南京理工大学 | A kind of TDC laser distance measurement method based on FPGA |
| CN106772405A (en) * | 2015-11-25 | 2017-05-31 | 南京理工大学 | A kind of TDC laser distance measurement methods based on FPGA |
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